Difference between revisions of "Kknee1"

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*{{T_lab_pca}}
 
*{{T_lab_pca}}
  
−
[[P32_paper_project]]
+
Documentation for the "Kknee1 PCB"
  
 +
=winter 2010=
 +
* SEA pot appears as MC.HALL  (iochan=1010, AN=7)
 +
**can be read with cmd 1118 position 8 :  1140=0, 750=-2000 0 6 1540=2000 0 6
 +
*
 +
 +
==todo==
 +
*decide how to use mc.hall
 +
*route
  
 
=summer 2010=
 
=summer 2010=
Line 10: Line 18:
  
 
* motor connectors [http://www.rcdude.com/servlet/the-1495/Hyperion-Gold-Bullet-Connectors/Detail HP-CON25 3MF]
 
* motor connectors [http://www.rcdude.com/servlet/the-1495/Hyperion-Gold-Bullet-Connectors/Detail HP-CON25 3MF]
 +
 +
*SC/MC300 - Signal J8.3 (ANALOG_EXTPWR) is by default connected to 24v supply.  Need to change jumpers for 5V supply.  This is used to power the joint ankle sensor.
 +
 +
==MR encoder to 8x1.25mm==
 +
*MR      8pin
 +
*2  Vcc    1
 +
*3  Gnd    2
 +
*5  /A      4
 +
*6  A      3
 +
*7  /B      6
 +
*8  B      5
 +
*9  /I      8
 +
*10  I      7
  
 
=todo=
 
=todo=
 +
*attempt to reboot MC - if MC comm fails.
 +
*system SM to better control the MC state.
 +
*MC dataport to become syncronized to commands over its FUP - not from the SC
 +
*printf to stdout seems to drop data.
 +
*commands to support IMPED, close SEA toque, and trajectory modes.
 +
*SEA feedback loop in MC  (ability to set gain and offset)
 +
*ability to read SEA
  
 
=assembly notes=
 
=assembly notes=
Line 25: Line 53:
 
# AN0 (blk)  -> PENC1.4
 
# AN0 (blk)  -> PENC1.4
 
# DIG1 (grn)  -> PENC1.5
 
# DIG1 (grn)  -> PENC1.5
−
=PCBs=
+
=Schematics and PCBs=
−
*http://bmech2.media.mit.edu/pcbs/kknee1/
+
*[http://bmech2.media.mit.edu/for_wiki/pic32/hc_kknee1-042710.pdf Schematic]
 +
*[http://bmech2.media.mit.edu/for_wiki/pic32/kknee1t.pdf PCB top]
 +
*[http://bmech2.media.mit.edu/for_wiki/pic32/kknee1b.pdf PCB bottom]
 +
*webserver directory : http://bmech2.media.mit.edu/for_wiki/pic32/
  
 
=errors=
 
=errors=
Line 32: Line 63:
 
*PIC32 FUP needs PGC and PGD swapped
 
*PIC32 FUP needs PGC and PGD swapped
  
−
=dsPIC in system timing (SVN revision 81)=
+
= performance =
−
*w/debug code appx 2.52mS
+
* [[pic32]] contains timing result for the firmware and various speeds.
−
*debug code off : 2.26mS
 
−
*motor commands off : appx 2.18mS
 
−
 
 
−
=PIC32 timing (SVN revision 81)=
 
−
Using 32 bit code generation and -Os optimization
 
−
 
 
−
*2ws flash 78.64MHz - 500uS - fastest 100% in spec
 
−
*2ws flash, 83MHz -  472uS
 
−
*3ws flash, 83MHz -  500uS
 
−
*2ws flash, 103.2MHz = 382uS
 
−
 
 
−
Using 16 bit code generation and -Os optimization
 
−
*2ws flash, 103.2MHz = 422uS
 
−
 
 
−
Using 32 bit code generation and NO optimization
 
−
*2ws flash, 103.2MHz = 540uS
 
−
 
 
−
Using 16 bit code generation and NO optimization
 
−
*2ws flash, 103.2MHz = 566uS
 
−
 
 
−
Using 32 bit code generation and -OS "fastest" optimization
 
−
*2ws flash, 103.2MHz = 388uS
 
−
 
 
−
Using 32 bit code generation and -O2 optimization
 
−
*2ws flash, 103.2MHz = 390uS
 
−
 
 
−
Using 32 bit code generation and -O1 optimization
 
−
*2ws flash, 103.2MHz = 390uS
 
−
 
 
−
 
 
−
==flash overclock==
 
−
DS specs : 0WS for 0-30MHz, 1WS for 30 to 60MHz, and 2WS for 80MHz
 
−
 
 
−
*0WS flash, 41.7MHz - 818uS
 
−
*1ws flash, 83MHz -  440uS
 
−
*2ws flash, 125MHz - 316uS
 
−
*3ws flash, 140MHz - 300uS
 
−
 
 
−
==PLL configs==
 
−
CLK = 14.74MHz
 
−
*41Mhz = CLK / 3 * 17 / 2
 
−
*78MHz = CLK / 3 * 16
 
−
*83MHz = CLK / 3 * 17
 
−
*103MHz = CLK / 3 * 21
 
−
*125Mhz = CLK / 2 * 17
 
−
*140MHz = CLK / 2 * 19
 
−
 
 
−
=PIC32 DOCS=
 
−
*[http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2615&dDocName=en532453 PIC32 starter kit]
 
−
*[http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2615&dDocName=en535536 PIC32 USB starter kit]
 
−
*file:///C:/Program%20Files%20%28x86%29/Microchip/MPLAB%20C32/doc/README.html
 
−
*http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2615&dDocName=en532454&redirects=c32
 
−
*http://www.johnloomis.org/microchip/docs/32-bit-Peripheral-Library-Guide.pdf
 
−
 
 
  
 
=notes=
 
=notes=
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==status==
 
==status==
−
*SN1 : use for dev;  
+
*SN1 : use for dev;
 +
* #2 : used for paper project - issues after solenoid connection
 +
* #3 : 9-25-2011 given to KE
 +
* #5 : 9-25-2011 given to KE
  
 
==ECO1==
 
==ECO1==
 
*rotate and reverse QY1
 
*rotate and reverse QY1
 +
 
==ECO2==
 
==ECO2==
 
*install jumper from C84 to PSW2.1  (brings Vsup to the SWIFI side connectors.)
 
*install jumper from C84 to PSW2.1  (brings Vsup to the SWIFI side connectors.)
Line 105: Line 86:
 
*install Schottky between CY1.1 (cathode) and QY1.2  
 
*install Schottky between CY1.1 (cathode) and QY1.2  
 
*reduce RY1 to ~1k
 
*reduce RY1 to ~1k
 +
 +
 +
=connections=
 +
[[Jst_1mm_connectors]]

Latest revision as of 23:09, 25 September 2011

Edit

Documentation for the "Kknee1 PCB"

winter 2010

  • SEA pot appears as MC.HALL (iochan=1010, AN=7)
    • can be read with cmd 1118 position 8 : 1140=0, 750=-2000 0 6 1540=2000 0 6

todo

  • decide how to use mc.hall
  • route

summer 2010

Rev200 MC interface connectors

  • SC/MC300 - Signal J8.3 (ANALOG_EXTPWR) is by default connected to 24v supply. Need to change jumpers for 5V supply. This is used to power the joint ankle sensor.

MR encoder to 8x1.25mm

  • MR 8pin
  • 2 Vcc 1
  • 3 Gnd 2
  • 5 /A 4
  • 6 A 3
  • 7 /B 6
  • 8 B 5
  • 9 /I 8
  • 10 I 7

todo

  • attempt to reboot MC - if MC comm fails.
  • system SM to better control the MC state.
  • MC dataport to become syncronized to commands over its FUP - not from the SC
  • printf to stdout seems to drop data.
  • commands to support IMPED, close SEA toque, and trajectory modes.
  • SEA feedback loop in MC (ability to set gain and offset)
  • ability to read SEA

assembly notes

  • white LED has black text marking the index pin (die is faintly visible also)
    • add note to assembly docs
  • QY1 needs to be installed upside down and slightly rotated, as pins 2 and 3 need to be flipped
    • add note to assembly docs

AKENCxx interface

  1. GND (blk) -> PENC1.7
  2. +V (red) -> PENC1.6
  3. NC
  4. NC
  5. AN0 (blk) -> PENC1.4
  6. DIG1 (grn) -> PENC1.5

Schematics and PCBs

errors

  • PIC32 FUP, and SWIFI outputs need their serial ports swapped
  • PIC32 FUP needs PGC and PGD swapped

performance

  • pic32 contains timing result for the firmware and various speeds.

notes

052710

  • MC firmware : on bmech2, ricpf, trunk, MC; used vlist:ak_p32.vlist

status

  • SN1 : use for dev;
  • #2 : used for paper project - issues after solenoid connection
  • #3 : 9-25-2011 given to KE
  • #5 : 9-25-2011 given to KE

ECO1

  • rotate and reverse QY1

ECO2

  • install jumper from C84 to PSW2.1 (brings Vsup to the SWIFI side connectors.)

ECO3

  • install 20K between pins 8 and 9 of PKNE1
  • install Schottky between CY1.1 (cathode) and QY1.2
  • reduce RY1 to ~1k


connections

Jst_1mm_connectors

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